dc.contributor.author | Borlaug, Ida-Louise Garmann | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2020-09-03T12:05:41Z | |
dc.date.available | 2020-09-03T12:05:41Z | |
dc.date.created | 2020-09-01T10:18:15Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 1063-6536 | |
dc.identifier.uri | https://hdl.handle.net/11250/2676245 | |
dc.description.abstract | The articulated intervention autonomous underwater vehicle (AIAUV) is an underwater swimming manipulator with intervention capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able to move in confined spaces and to perform intervention tasks. In this article, we propose using a generalized super-twisting algorithm (GSTA), which is an extension of the regular super-twisting algorithm, for the trajectory tracking of the position and orientation of the base of the AIAUV in six degrees of freedom (6DOF). We also propose using a higher-order sliding mode observer (HOSMO) for estimating the linear and angular velocities when velocity measurements are unavailable. Furthermore, we show the ultimate boundedness of the tracking errors for a control law using the GSTA and for a control law that combines the GSTA with an HOSMO. We also prove that the GSTA gives global uniform finite-time stability. Finally, we demonstrate the applicability of the proposed control laws with comprehensive simulation and experimental results. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.title | Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.journal | IEEE Transactions on Control Systems Technology | en_US |
dc.identifier.doi | 10.1109/TCST.2020.2977302 | |
dc.identifier.cristin | 1826388 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 2 | |